With the advent of new, low-cost hardware such as OpenNI compatible cameras and continued efforts in advanced open source 3D point cloud processing, 3D perception gains more and more importance in robotics, as well as other fields. The workshop attempts to motivate new developers and ideas to delve into this subject by offering a tutorial on point cloud processing using the emerging Point Cloud Library (PCL), which presents an advanced and extensive approach to the subject, as well as providing an overview of existing systems applying these techniques. Our goal is to provide an excellent reference material for students and researchers interested in this subject and take our guests through a complete application demonstration (given live) that combines subjects such as filtering, feature estimation, segmentation, registration, object recognition and finally surface reconstruction. The tutorial will be held using OpenNI compatible sensors, so we encourage the audience to bring theirs so we can follow all the steps together. We're assembling a great list of invited speakers that will talk about the usage of PCL in their work and show impressive demos.